A Self-organized Perimeter Defense Strategy for Swarms under Limited Perception

ZOU Bingyun; JIANG Liwei; PENG Xingguang

doi:10.12382/bgxb.2025.0577

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A Self-organized Perimeter Defense Strategy for Swarms under Limited Perception

更新时间：2026-03-09

- A Self-organized Perimeter Defense Strategy for Swarms under Limited Perception
- Acta Armamentarii (2026)
- 作者机构：
  
  1. 西北工业大学航海学院,陕西,西安,710072
  2. 中国船舶集团有限公司系统工程研究院,北京,100094
  3. 西北工业大学宁波研究院,浙江,宁波,315103
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0577
  CLC： TP273
- Received：30 June 2025，
  
  Online First：09 March 2026，
- 稿件说明：
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邹秉运，姜丽伟，彭星光. 有限感知下的集群自组织边界防御策略[J/OL]. 兵工学报, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0577.

ZOU B Y, JIANG L W, PENG X G. A self-organized perimeter defense strategy for swarms under limited perception[J/OL]. Acta Armamentarii, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0577. (in Chinese)
邹秉运，姜丽伟，彭星光. 有限感知下的集群自组织边界防御策略[J/OL]. 兵工学报, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0577. DOI：

ZOU B Y, JIANG L W, PENG X G. A self-organized perimeter defense strategy for swarms under limited perception[J/OL]. Acta Armamentarii, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0577. (in Chinese) DOI：

摘要

针对通信受限、高动态环境下无人集群边界防御中攻击者序列高效拦截问题，提出一种基于有限感知的集群自组织防御策略。该策略无需显式通信与中心式指控，防御个体仅依赖局部方位及距离量测信息进行分布式决策。通过理论推导确定完全覆盖边界所需的最小防御数量，支撑系统部署；面向防御个体视角构建目标选择机制，结合相对距离、方位及密集程度评估威胁态势，并利用占优可达集划分规避选择冲突；引入马尔可夫链模型实现边界均匀覆盖策略与入侵拦截策略的自适应切换，平衡即时拦截与边界覆盖。仿真表明，在攻击者数量显著多于防御者时，该策略仍能稳定拦截攻击序列，当防御规模且攻击间隔适中时，拦截成功率可达95%以上；相较分区式最大路径算法拦截效率更高，且在中等规模优势更明显。在椭圆与圆角矩形等规则边界下性能稳定；在S型机动攻击下效率有所下降，但可通过增加防御规模与覆盖密度进行补偿，体现出良好的鲁棒性与可扩展性。

Abstract

To address the problem of efficient interception of sequential intrusions inperimeterdefense for unmanned swarms under communication constraints and highly dynamic environments

this paper proposes a self-organized defense strategy based on limited sensing. The proposed strategy requires neither explicit inter-agent communication nor centralized command and control; instead

each defender makes distributed decisions using only local measurements of relative bearing and distance. A theoretical analysis is conducted to derive the minimum number of defenders needed to fully cover theperimeter

providing guidance for deployment. From an individual-defender perspective

a target-selection mechanism is developed by evaluating threat levels using relative distance

relative bearing

and local density

and conflicts are mitigated through dominant reachable-set partitioning. In addition

a Markov-chain-based framework is introduced to enable adaptive switching between uniformperimeter-coverage and intrusion-interception behaviors

balancing immediate interception performance withperimeterintegrity.Simulation results demonstrate that

even when the number of attackers is significantly larger than that of defenders

the proposed strategy can stably intercept sequential attacks; under moderate defender scale and attack-release intervals

the interception success rate exceeds 95%. Compared with partition-based longest-path methods

it achieves higher interception efficiency

with more pronounced advantages at medium swarm sizes. The strategy also maintains stable performance under regular noncircular boundaries such as ellipses and rounded rectangles. Although the interceptionefficiency decreases under S-shaped maneuvering attacks

the performance loss can be compensated by increasing the number of defenders andperimetercoverage density

indicating strong robustness and scalability.

关键词

Keywords

references

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